Apparatus With Rolling Contact Handle

ABSTRACT

Apparatuses with rolling contact handles are described. An apparatus for hand exercising includes an outer frame having a first rail and a second rail spaced apart and an outer handle extending between the first and second rails, the outer handle configured to engage with a thenar of a hand, a roller bar slideably coupled to the first and second rails, the roller bar having a plurality of rollers capable of rotating about an axis of the roller bar, wherein the plurality of rollers are configured to support a plurality of fingers of the hand, and a resistance assembly coupled to the roller bar and the outer frame, the resistance assembly resisting movement of the roller bar towards the outer handle.

RELATED APPLICATION

This application claims priority to U.S. Provisional Patent Application No. 61/614,732, filed on Mar. 23, 2012, which is incorporated herein in its entirety.

BACKGROUND

A conventional hand grasping apparatus (e.g., a hand exercising device) can include an element (e.g., a handle) that can be pulled by fingers. Typically, the finger handle has a fixed surface and thus does not roll/rotate. That is, the contact surface between the finger handle and the fingers remains static. When a user grabs the handle using his/her fingers and closes their hand, the fingers naturally tend to curl and a friction force (e.g., the horizontal F_(f) as illustrated in FIG. 1) can occur between the finger handle and the inner surface of the fingers. For example, FIG. 1 demonstrates a horizontal friction force F_(f) between the fingers and the finger handle when the hand closes. The friction force can cause discomfort and even pain to a user's metacarpophylangeal (MCP) joint and wrist since it may force the user to rotate his wrist as well as the MCP joint while curling his fingers. The discomfort and pain can aggravate when the finger curling motion is repeated and/or when a heavy load is carried.

SUMMARY

In accordance with the disclosed subject matter, devices are described for apparatuses with rolling contact handles.

Disclosed subject matter includes, in one aspect, an apparatus for hand exercising, which includes an outer frame having a first rail and a second rail spaced apart and an outer handle extending between the first and second rails, the outer handle configured to engage with a thenar of a hand, a roller bar slideably coupled to the first and second rails, the roller bar having a plurality of rollers capable of rotating about an axis of the roller bar, wherein the plurality of rollers are configured to support a plurality of fingers of the hand, and a resistance assembly coupled to the roller bar and the outer frame, the resistance assembly resisting movement of the roller bar towards the outer handle.

In some embodiments, the outer handle is inclined towards the first rail.

In some other embodiments, the roller bar is inclined towards the first rail and is substantially in parallel with the outer handle.

In some other embodiments, a profile of the roller bar forms a convex curve.

In some other embodiments, the outer handle has a concave surface facing the roller bar, the concave surface receiving the roller bar when the roller bar is pulled towards the outer handle.

In some other embodiments, the plurality of rollers have non-uniform sizes.

In some other embodiments, each of the plurality of rollers has annular recess.

In some other embodiments, a profile of the outer handle is curved.

In some other embodiments, a profile of the outer handle is straight.

In some other embodiments, the apparatus for hand exercising further includes a supporting unit extending from the outer frame configured to support a wrist.

In some other embodiments, at least one of the plurality of rollers is embedded with a motion vibration element configured to generate a tactile sensation in the at least one of the plurality of rollers.

In some other embodiments, at least one of the plurality of rollers is embedded with a sensor configured to detect at least one of force, position, and acceleration applied on the at least one of the plurality of rollers.

In some other embodiments, the resistance assembly includes at least one interchangeable spring configured to generate mechanical resistance in a linear motion.

In some other embodiments, the resistance assembly includes at least one interchangeable spring configured to generate mechanical resistance in a rotational motion.

In some other embodiments, the resistance assembly includes at least one interchangeable spring and at least one position sensor configured to measure at least one of force, position, velocity and acceleration of a linear motion.

In some other embodiments, the resistance assembly includes at least one interchangeable spring and at least one position sensor configured to measure at least one of torque, position, velocity and acceleration of a rotational motion.

In some other embodiments, at least one of the plurality of rollers is embedded with a sensor configured to detect a motion of the at least one of the plurality of rollers.

In some other embodiments, at least one of the plurality of rollers is embedded with a sensor configured to detect rotation of the at least one of the plurality of rollers.

In some other embodiments, the resistance assembly is coupled to a haptic device that provides feedback according to the linear motion of the roller bar with respect to the outer handle.

In some other embodiments, the resistance assembly is coupled to a haptic device configured to provide feedback according to a rotational motion of the outer frame.

In some other embodiments, the resistance assembly is coupled to an actuator configured to provide a linear force to the roller bar.

In some other embodiments, the resistance assembly is coupled to an actuated haptic device configured to provide force feedback according to a linear motion of the roller bar with respect to the outer handle.

In some other embodiments, the resistance assembly is coupled to an actuated device configured to provide rotational torque to the outer frame.

In some other embodiments, the resistance assembly is coupled to an actuated haptic feedback configured to provide feedback according to a rotational motion of the outer frame.

In some other embodiments, the roller bar has a groove, and at least one of the plurality of rollers has a protrusion on an inner surface of the at least one roller, where the protrusion is configured to engage the groove to stop the at least one roller from rolling.

Disclosed subject matter includes, in another aspect, an apparatus for hand exercising, which includes an outer frame having a first rail and a second rail spaced apart and an outer handle extending between the first and second rails, the outer handle configured to engage with a thenar of a hand, a first roller bar slideably coupled to the first rail and decoupled from the second rail, the first roller bar having a first plurality of rollers capable of rotating about an axis of the first roller bar, wherein the first plurality of rollers are configured to support a first plurality of fingers of the hand, and a first resistance assembly coupled to the first roller bar and the outer frame, the first resistance assembly resisting movement of the first roller bar towards the outer handle.

In some other embodiments, the apparatus for hand exercising further includes a second roller bar slideably coupled to the second rail and decoupled from the first rail, the second roller bar having a second plurality of rollers, wherein the second plurality of rollers support the second plurality of fingers of the hand, and a second resistance assembly coupled to the second roller bar and the outer frame, the second resistance assembly resisting movement of the second roller bar towards the outer handle.

In some other embodiments, the first plurality of rollers are partially recessed into the first roller bar.

In some other embodiments, the first roller bar includes a pistol grip.

In some other embodiments, the pistol grip includes an additional binary state input device.

In some other embodiments, the outer handle includes a pistol grip.

In some other embodiments, the pistol grip includes an additional binary state input device.

In some other embodiments, at least one of the first plurality of rollers is embedded with a motion vibration element configured to generate a tactile sensation in the at least one of the first plurality of rollers.

In some other embodiments, at least one of the first plurality of rollers is embedded with a sensor configured to detect at least one of force, position, and acceleration applied on the at least one of the first plurality of rollers.

Disclosed subject matter includes, in yet another aspect, a method of exercising hands by a user, which includes placing a thenar of a hand of the user against an outer handle of a hand exercise device, grabbing a plurality of rollers on a roller bar of the hand exercise device using a plurality of fingers, pulling each of the plurality of rollers towards the outer handle using each of the plurality of fingers, and curling the plurality of fingers while rotating each of the plurality of rollers and keeping a metacarpophylangeal (MCP) joint of the user stable.

These and other capabilities of embodiments of the disclosed subject matter will be more fully understood after a review of the following figures, detailed description, and claims.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 illustrates a finger curling situation for using a fix finger handle.

FIG. 2 illustrates a finger curling situation for using a rolling finger handle.

FIG. 3A shows a perspective view of an exemplary apparatus for hand exercising.

FIG. 3B shows an exploded view of the exemplary apparatus in FIG. 3A.

FIG. 4 illustrates another exemplary apparatus for hand exercising with an incline roller bar.

FIG. 5 illustrates another exemplary apparatus for hand exercising with a curved roller bar.

FIG. 6 illustrates another exemplary apparatus for hand exercising with rollers of different diameters.

FIG. 7 illustrates another exemplary apparatus for hand exercising with rollers of non-constant diameter.

FIG. 8 illustrates another exemplary apparatus for hand exercising with a curved thenar support.

FIGS. 9A and 9B show cross-section views of another exemplary apparatus for hand exercising with interlocking roller bar and thenar support.

FIGS. 10A and 10B illustrate another exemplary apparatus for hand exercising using specially textures rollers.

FIG. 11 illustrates an exemplary apparatus for hand exercising coupled to an exemplary external device haptic computer interface.

FIGS. 12A and 12B illustrate an exemplary apparatus for hand exercising coupled to other exemplary external devices for mechanical assistance or actuation.

FIGS. 13A and 13B illustrate another exemplary apparatus for hand exercising using vibration elements embedded into each of the rollers.

FIGS. 14A and 14B illustrate another exemplary apparatus for hand exercising using force sensors embedded into each of the rollers.

FIGS. 15A and 15B illustrate another exemplary apparatus for hand exercising with a rotation limiting lock embedded into each of the rollers.

FIG. 16 illustrates another exemplary apparatus for hand exercising when multiple roller bar allow fingers or groups of fingers to move independently.

FIGS. 17A and 17B illustrate another exemplary apparatus for hand exercising with the rollers partially embedded into the roller bar and an additional trigger switch for a digital input contained on the roller bar.

FIGS. 18A and 18B illustrate another exemplary apparatus for hand exercising with the rollers partially embedded into the roller bar and an additional trigger switch for a digital input contained on the thenar support.

DESCRIPTION

In the following description, numerous specific details are set forth regarding the systems and methods of the disclosed subject matter and the environment in which such systems and methods may operate, in order to provide a thorough understanding of the disclosed subject matter. It will be apparent to one skilled in the art, however, that the disclosed subject matter may be practiced without such specific details, and that certain features, which are well known in the art, are not described in detail in order to avoid complication of the disclosed subject matter. In addition, it will be understood that the embodiments described below are only examples, and that it is contemplated that there are other systems and methods that are within the scope of the disclosed subject matter.

Embodiments of the disclosed subject matter can provide features for a more comfortable apparatus for hand exercising, such as grip strength training for users with unimpaired hand function or as a tool during the course of physical therapy for user with impaired hand function. An apparatus for hand exercising can have a rolling contact handle which rolls along the inside surface of the fingers. The rolling contact handle can eliminate or reduce the shear friction force between a user's fingers and a finger handle. FIG. 2 illustrates a finger curling situation when the finger handle (or its surface) rolls or rotates. Unlike in the situation illustrated in FIG. 1, the horizontal friction force between the finger handle and the fingers is largely eliminated when the finger handle rotates/rolls as the fingers curl. The elimination of the horizontal friction force can alleviate the force against the MCP joint and the wrist and allow the fingers to curl naturally and freely towards the palm, making hand closing motions more comfortable. This type of grasp can sometimes be referred to as a “Rolling Contact” grasp in hand biomechanics, similarly to the interaction when turning a nut onto a screw. The Rolling Contact (RC) Handle can allow the user to exert higher forces when exercise grasping in a safer and more comfortable manner. As described in details later in this document, embodiments of the disclosed subject matter can also provide features for a more effective apparatus for hand exercising. An apparatus for hand exercising can have a rolling contact handle which can provide individual support for each individual finger. The individualized finger support can allow exercising or motion of individual fingers. The apparatus for hand exercising can also allow customization of the individual finger support to meet various exercising needs and goals.

FIG. 3A shows a perspective view of an exemplary apparatus 300 for hand exercising according to one embodiment of the subject matter disclosed herein. FIG. 3B shows an exploded view of the apparatus 300 in FIG. 3A. Referring to FIGS. 3A and 3B, the apparatus 300 can include an outer frame 310, a roller bar 320, and a resistance assembly 330.

The outer frame 310 can include a first rail 312, a second rail 314, and an outer handle 316. The first rail 312 and the second rail 314 can be spaced apart in parallel. The first and second rails 312 and 314 can serve as guiding rails to stabilize and align moving components of the apparatus 300, such as the roller bar 320. The outer handle 316 can extend between the first rail 312 and the second rail 314. The outer handle 316 can optionally incline towards the first rail 312. When the apparatus 300 is used for hand exercising, the outer handle 316 can support a thenar of a hand. A thenar is the anatomical name of the inside region of a hand between the thumb and the palm. Optionally, the outer frame 310 can also be coupled with other external devices, such as an actuator. More details about coupling to external devices are described later in this document.

The roller bar 320 can be slideably coupled to the first and second rails 312 and 314. The roller bar 320 can slide along the first and second rails 312 and 314, towards or away from the outer handle 316. The roller bar 320 can optionally be perpendicular to the first and second rails 312 and 314 and can optionally have a linear profile (e.g., straight line). The roller bar 320 can include a plurality of rollers 322. For example, the plurality of rollers 322 can be mounted concentrically along the roller bar 320. The plurality of rollers 322 can support a plurality of fingers when the apparatus 300 is used for hand exercising. The plurality of rollers 322 can contact with fingers of the hand and roll when the hand closes. In some embodiments, the plurality of rollers 322 can fit onto the roller bar 320 and mechanically interact as a low-friction sleeve bearing. The plurality of rollers 322 can be made of low friction materials, such as Teflon. In other embodiments, the roller bar 320 and the plurality of rollers 322 can include brass bushings on a steel shaft and ball bearings on a steel shaft, etc.

The resistance assembly 330 can be coupled to the roller bar 320 and the outer frame 310. The resistance assembly 330 can resist movement of the roller bar 320 towards the outer handle 316 when, e.g., a user grabs the apparatus 300 and closes his hand. The resistance assembly 330 can provide mechanical resistance and optionally damping to motion. In one example, the resistance assembly 330 can include a spring rod. The mechanical properties can be controlled with an external device coupled with the apparatus (e.g., an actuator).

In some embodiments, the roller bar 320 can form a single piece to allow all or multiple fingers to roll/rotate about the same axis. In some other embodiments, there can be multiple segments within the roller bar 320 so that different fingers or groupings of fingers can roll/rotate about different axes within the roller bar.

FIG. 4 illustrates another exemplary apparatus 400 for hand exercising according to one embodiment of the subject matter disclosed herein. The apparatus 400 illustrated in FIG. 4 is similar to the apparatus 300 illustrated in FIGS. 3A and 3B. However, as illustrated in FIG. 4, a roller bar 420 in the apparatus 400 can incline towards a first rail 412 and a second rail 414. In other words, the roller bar 420 can be mounted at an angle other than perpendicular to the first and second rails 412 and 414. When an outer handle 416 also inclines towards the first rail 412, the roller bar 420 can be substantially in parallel with the outer handle 416. The inclination of the roller bar 420 can be adjusted to fit individual needs and goals.

FIG. 5 illustrates another exemplary apparatus 500 for hand exercising according to one embodiment of the subject matter disclosed herein. The apparatus 500 illustrated in FIG. 5 is similar to the apparatus 300 illustrated in FIGS. 3A and 3B. However, a roller bar 520 in the apparatus 500 can have a non-linear profile. For example, as illustrated in FIG. 5, the roller bar 520 can have a parabola or convex shape. In other examples, the roller bar 520 can form a symmetrical parabola, an asymmetrical parabola, a s-shaped, a contour, or any other non-linear shape. The shape or profile of the roller bar 520 can be adjusted to fit individual needs and goals.

FIG. 6 illustrates another exemplary apparatus 600 for hand exercising according to one embodiment of the subject matter disclosed herein. The apparatus 600 illustrated in FIG. 6 is similar to the apparatus 300 illustrated in FIGS. 3A and 3B. However, a plurality of rollers 622 in the apparatus 600 can have non-uniform sizes or shapes. That is, the plurality of rollers 622 can have different sizes or shapes to better fit different fingers or users. For example, as illustrated in FIG. 6, the roller for the middle finger can be larger (e.g., in width and/or diameter) than the roller for the pinky finger, since the middle finger is normally longer and stronger than the pinky finger. The shape or size of the individual rollers 622 can be adjusted to fit individual needs and goals. In one example, the cross-section of the rollers can be circular or elliptical; each roller can have different cross-section profiles.

FIG. 7 illustrates another exemplary apparatus 700 for hand exercising according to one embodiment of the subject matter disclosed herein. The apparatus 700 illustrated in FIG. 7 is similar to the apparatus 300 illustrated in FIGS. 3A and 3B. However, a plurality of rollers 722 in the apparatus 700 can have annular recess. In other words, each roller 722 can have non-uniform diameters along its width. For example, as illustrated in FIG. 7, each roller 722 can be shaped like a spool, e.g., having a smaller diameter near the center and a larger diameter near the edges. The non-uniform diameters of rollers can make the rollers better fit the fingers and enhance the comfort of using the apparatus 700. The shape or size (e.g., diameters) of the individual rollers 722 can be adjusted to fit individual needs and goals.

FIG. 8 illustrates another exemplary apparatus 800 for hand exercising according to one embodiment of the subject matter disclosed herein. The apparatus 800 illustrated in FIG. 8 is similar to the apparatus 300 illustrated in FIGS. 3A and 3B. However, an outer handle 816 in the apparatus 800 can have a non-linear profile. For example, the outer handle 816 can form a curve (e.g., a s-shape as illustrated in FIG. 8). In other examples, the outer handle 816 can form a symmetrical parabola, an asymmetrical parabola, a contour, or any other non-linear shape. The shape or profile of the outer handle 816 can be adjusted to fit individual needs and goals (e.g., different hands and wrists). Optionally, the apparatus 800 can also include a supporting unit 818 for supporting one's wrist or forearm. The supporting unit 818 can be integrated with and extend from the outer handle 816; alternatively, the supporting unit 818 can be a separate component coupled to the outer handle 816 or the outer frame 810.

FIGS. 9A and 9B illustrate another exemplary apparatus 900 for hand exercising according to one embodiment of the subject matter disclosed herein. FIG. 9A illustrates the apparatus 900 when the hand is in a semi-grasping state. FIG. 9B illustrates the apparatus 900 when the hand is fully enclosed in a complete-grasping state. The apparatus can include a roller bar 920 and an outer handle 916, which are both contoured in a way that they can interlock with each other, e.g., for the purpose of being more compact when the hand is fully grasped. For example, as illustrated in FIGS. 9A and 9B, the cross-section of the outer handle 916 can be shaped like a crescent moon, while the cross-section of the roller bar 920 can be shaped like a circle. In this example, the outer handle 916 with a concave surface facing the roller bar 920 can receive the roller bar 920 when the roller bar 920 is pulled towards the outer handle 916. The interlocking of the outer handle 916 and the roller bar 920 can allow a more compact cross section when the hand is fully enclosed in a complete-grasping mode. The shape or profile of the outer handle 916 and the roller bar 920 can be adjusted to fit individual needs and goals (e.g., interlocking).

FIGS. 10A and 10B illustrate another exemplary apparatus 1000 for hand exercising according to one embodiment of the subject matter disclosed herein. FIG. 10A contains a full view of the apparatus 1000 with rollers 1022. FIG. 10B illustrates a close-up view of the rollers 1022 in apparatus 1000. As illustrated in FIGS. 10A and 10B, outer surfaces of the rollers 1022 can include various materials to provide comfort and customization to different users or usage scenarios. For example, the outer surfaces of the rollers 1022 can include rubber, soft silicone, or other texture, etc.

FIG. 11 illustrates an exemplary apparatus 1100 for hand exercising according to one embodiment of the subject matter disclosed herein, which can be coupled to an exemplary external device 1140. In some embodiments, the apparatus 1100 can act as an input device or an end effector of computer interfaces. For example, as illustrated in FIG. 11, the apparatus 1100 can be coupled to a haptic device (e.g., a Novint Falcon, etc.). The apparatus 110 when coupled as an input device can create better user experience with more data collected and provide greater comfort and control for grasping at various forces. In one example, the apparatus 1100 can be configured as a control unit for, e.g., a video game.

FIGS. 12A and 12B illustrate an exemplary apparatus 1200 for hand exercising according to one embodiment of the subject matter disclosed herein, which can be coupled to other exemplary external devices 1250 and 1250′. In some embodiments, the apparatus 1200 can be coupled with an actuator 1250 or 1250′ to provide force resistance in one or more degrees of freedom. In some examples, structures such as actuators, springs, or dampers can be coupled to the apparatus 1200 to augment force feedback capabilities.

FIGS. 13A and 13B illustrate another exemplary apparatus 1300 for hand exercising according to one embodiment of the subject matter disclosed herein. FIG. 13A shows a perspective view of the apparatus 1300 which can include rollers 1322 embedded with motion elements 1324 (e.g., vibrating elements). FIG. 13B shows a close-up view of a roller 1322′ embedded with a motion element 1324′. The apparatus 1300 with embedded motion elements 1324 can improve haptic sensation. The apparatus 1300 can have multiple uses, such as measuring hand grasping force, serving as an input or control device, or providing exercising and/or rehabilitation for hand/fingers, etc. For example, the motion elements 1324 embedded in individual rollers 1322 can help improve sensatory feedback and stimulate rehabilitation. In some embodiments, a motion element 1322/1322′ can include a small DC motor with an eccentric mechanism or a piezo buzzer element 1324/1324′. The small DC motor can generate motion (e.g., vibration with various amplitudes and frequencies) to notify the user of an action or event.

FIGS. 14A and 14B illustrate another exemplary apparatus 1400 for hand exercising according to one embodiment of the subject matter disclosed herein. FIG. 14A shows a perspective view of the apparatus 1400 which can include rollers 1422 embedded with sensors 1426. FIG. 14B shows a close-up view of a roller 1422′ embedded with a sensor 1426′. In some embodiments, the sensors 1426 can detect the force or torque applied by individual fingers and/or the motion of individual fingers (e.g., rolling/rotation degrees). Examples of sensors 1426 can include force-sensing resistors, piezo-resistive polymers, miniature loads cells, or thin film force sensing resistors, etc.

FIGS. 15A and 15B illustrate another exemplary apparatus 1500 for hand exercising according to one embodiment of the subject matter disclosed herein. FIG. 15A shows a cross-section view of a roller 1522 in the exemplary apparatus. FIG. 15B shows a close-up perspective view of a roller bar 1520 and the rollers 1522. Each roller 1522 can contain a built-in locking mechanism so that the range of motion of each roller can be limited individually. In some examples, a cam mechanism can be implemented to provide the locking mechanism. In some other examples, as illustrated in FIGS. 15A and 15B, the roller 1522 can include a protrusion 1528 in its inner surface. The roller bar 1520 can include a groove 1529 along its axis. The protrusion 1528 on the roller 1522 can be configured to interlock with the groove 1529 on the roller bar 1520, e.g., at a pre-determined angle, thus preventing the roller 1522 from rolling/rotating further. The pre-determined angle can be adjusted to fit individual needs and goals.

FIG. 16 shows a prospective view of another exemplary apparatus 1600 for hand exercising according to one embodiment of the subject matter disclosed herein. The apparatus 1600 can include an outer frame 1610, a first roller bar 1620, and a first resistance assembly 1630. Optionally, the apparatus 1600 can also include a second roller bar 1620′, and a second resistance assembly 1630′. In some embodiments, the apparatus 1600 can allow fingers to be split across the first and second roller bars 1620 and 1620′. For example, the first roller bar 1620 can support some fingers (such as the index finger and the middle finger) while the second roller bar 1620′ can support some other fingers (such as the ring finger and the pinky finger).

The outer frame 1610 can include a first rail 1612, a second rail 1614, and an outer handle 1616. The first rail 1612 and the second rail 1614 can be spaced apart in parallel. The first and second rails 1612 and 1614 can serve as guiding rails to stabilize and align moving components of the apparatus 1600, such as the first and second roller bars 1620 and 1620′. The outer handle 1616 can extend between the first rail 1612 and the second rail 1614. The outer handle 1616 can optionally incline towards the first rail 1612. When the apparatus 1600 is used for hand exercising, the outer handle 1616 can support a thenar of a hand. Optionally, the outer frame 1610 can also be coupled with other external devices, such as an actuator.

The first roller bar 1620 can be slideably coupled to the first rail 1612 but decoupled from the second rail 1614. The first roller bar 1620 can slide along the first rail 1612, towards or away from the outer handle 1616. The first roller bar 1620 can optionally be perpendicular to the first rail 1612 and can optionally have a linear profile (e.g., straight line). The first roller bar 1620 can include a first plurality of rollers 1622. For example, the first plurality of rollers 1622 can be mounted concentrically along the first roller bar 1620. The first plurality of rollers 1622 can support a first plurality of fingers when the apparatus 1600 is used for hand exercising. The first plurality of rollers 1622 can contact with fingers of the hand and roll when the hand closes. In some embodiments, the first plurality of rollers 1622 can fit onto the first roller bar 1620 and mechanically interact as a low-friction sleeve bearing. In other embodiments, the first roller bar 1620 and the first plurality of rollers 1622 can include brass bushings on a steel shaft and ball bearings on a steel shaft, etc. The first plurality of rollers 1622 can be made of low friction materials, such as Teflon.

The first resistance assembly 1630 can be coupled to the first roller bar 1620 and the outer frame 1610. The first resistance assembly 1630 can resist movement of the first roller bar 1620 towards the outer handle 1616 when, e.g., a user grabs the apparatus 1600 and closes his hand. The first resistance assembly 1630 can provide mechanical resistance and optionally damping to motion. In one example, the first resistance assembly 1630 can include a spring rod. The mechanical properties can be controlled with an external device coupled with the apparatus (e.g., an actuator).

The optional second roller bar 1620′ can be slideably coupled to the second rail 1614 but decoupled from the first rail 1612. The second roller bar 1620′ can slide along the second rail 1614, towards or away from the outer handle 1616. The second roller bar 1620′ can optionally be perpendicular to the second rail 1614 and can optionally have a linear profile (e.g., straight line). The second roller bar 1620′ can include a second plurality of rollers 1622′. For example, the second plurality of rollers 1622′ can be mounted concentrically along the second roller bar 1620′. The second plurality of rollers 1622′ can support a second plurality of fingers when the apparatus 1600 is used for hand exercising. The second plurality of rollers 1622′ can contact with fingers of the hand and roll when the hand closes. In some embodiments, the second plurality of rollers 1622′ can fit onto the second roller bar 1620′ and mechanically interact as a low-friction sleeve bearing. In other embodiments, the second roller bar 1620′ and the second plurality of rollers 1622′ can include brass bushings on a steel shaft and ball bearings on a steel shaft, etc. The second plurality of rollers 1622′ can be made of low friction materials, such as Teflon.

The optional second resistance assembly 1630′ can be coupled to the second roller bar 1620′ and the outer frame 1610. The second resistance assembly 1630′ can resist movement of the second roller bar 1620′ towards the outer handle 1616 when, e.g., a user grabs the apparatus 1600 and closes his hand. The second resistance assembly 1630′ can provide mechanical resistance and optionally damping to motion. In one example, the second resistance assembly 1630′ can include a spring rod. The mechanical properties can be controlled with an external device coupled with the apparatus (e.g., an actuator).

In some embodiments, the first or second roller bars 1620/1620′ can form a single piece to allow all or multiple fingers to roll/rotate about the same axis. In some other embodiments, there can be multiple segments within the first or second roller bars 1620/1620′ so that different fingers or groupings of fingers can roll/rotate about different axes within the same roller bar.

FIGS. 17A and 17B illustrate another exemplary apparatus 1700 for hand exercising according to one embodiment of the subject matter disclosed herein. FIG. 17A shows a perspective view of the apparatus 1700 which can include a roller bar 1720 with multiple rollers 1722 and a pistol grip 1723. FIG. 17B shows a close-up view of the roller bar 1720 with the multiple rollers 1722 and the pistol grip 1723. In some embodiments, the rollers 1722 can be partially exposed on the roller bar 1720. In some other embodiments, the pistol grip 1723 can form a trigger. The pistol grip 1723 can support the index finger when a hand grabs the apparatus 1700. In some examples, the roller bar 1720 can contain additional computer interface electronics such as triggers, buttons, and switches to serve as a joystick or other types of control devices.

FIGS. 18A and 18B illustrate another exemplary apparatus 1800 for hand exercising according to one embodiment of the subject matter disclosed herein. FIG. 18A shows a perspective view of the apparatus 1800 which can include an outer handle 1816 with a pistol grip 1818. FIG. 18B shows a close-up view of the outer handle 1816 on the thenar support with the integrated pistol grip 1818. In some embodiments, the pistol grip 1818 can form a trigger. The pistol grip 1818 can support the index finger when a hand grabs the apparatus 1800. In some examples, the outer handle 1816 can contain additional computer interface electronics such as triggers, buttons, and switches to serve as a joystick or other types of control devices.

Embodiments of the disclosed subject matter can be used in the following exemplary situations:

-   Physical therapy hand rehabilitation (with computer or standalone) -   Hand exercise (with computer or standalone) -   Dexterity & strength training tool -   Hand stretch tool (release motion could help alleviate carpal tunnel     by stretching fingers and wrist combined with opening the thumb) -   Ergonomic handle for grasping and control of loads -   Robot-human interface for controller -   Video/computer game accessory -   Haptic interface for immersive game experience -   Home- or Gym-based exercise equipment, such as ergometer rowing     machine, stationary bike, or combined with weights for motions to     strengthen hands and arms -   Mounted on handlebars of non-stationary (mobile) bicycle -   End effector for an upper extremity robot like the Hocoma Armeo -   Low-cost home rehabilitation system

It is to be understood that the disclosed subject matter is not limited in its application to the details of construction and to the arrangements of the components set forth in the following description or illustrated in the drawings. The disclosed subject matter is capable of other embodiments and of being practiced and carried out in various ways. Also, it is to be understood that the phraseology and terminology employed herein are for the purpose of description and should not be regarded as limiting.

As such, those skilled in the art will appreciate that the conception, upon which this disclosure is based, may readily be utilized as a basis for the designing of other structures, methods, and systems for carrying out the several purposes of the disclosed subject matter. It is important, therefore, that the claims be regarded as including such equivalent constructions insofar as they do not depart from the spirit and scope of the disclosed subject matter.

Although the disclosed subject matter has been described and illustrated in the foregoing exemplary embodiments, it is understood that the present disclosure has been made only by way of example, and that numerous changes in the details of implementation of the disclosed subject matter may be made without departing from the spirit and scope of the disclosed subject matter, which is limited only by the claims which follow. 

1. An apparatus for hand exercising, comprising: an outer frame having a first rail and a second rail spaced apart and an outer handle extending between the first and second rails, the outer handle configured to engage with a thenar of a hand; a roller bar slideably coupled to the first and second rails, the roller bar having a plurality of rollers capable of rotating about an axis of the roller bar, wherein the plurality of rollers are configured to support a plurality of fingers of the hand; and a resistance assembly coupled to the roller bar and the outer frame, the resistance assembly resisting movement of the roller bar towards the outer handle.
 2. The apparatus of claim 1, wherein the outer handle is inclined towards the first rail.
 3. The apparatus of claim 2, wherein the roller bar is inclined towards the first rail and is substantially in parallel with the outer handle.
 4. The apparatus of claim 1, wherein a profile of the roller bar forms a convex curve.
 5. The apparatus of claim 1, wherein the outer handle has a concave surface facing the roller bar, the concave surface receiving the roller bar when the roller bar is pulled towards the outer handle.
 6. The apparatus of claim 1, wherein the plurality of rollers have non-uniform sizes.
 7. The apparatus of claim 1, wherein each of the plurality of rollers has annular recess.
 8. The apparatus of claim 1, wherein a profile of the outer handle is curved.
 9. The apparatus of claim 1, wherein a profile of the outer handle is straight.
 10. The apparatus of claim 1, further comprising a supporting unit extending from the outer frame configured to support a wrist.
 11. The apparatus of claim 1, wherein at least one of the plurality of rollers is embedded with a motion vibration element configured to generate a tactile sensation in the at least one of the plurality of rollers.
 12. The apparatus of claim 1, wherein at least one of the plurality of rollers is embedded with a sensor configured to detect at least one of force, position, and acceleration applied on the at least one of the plurality of rollers.
 13. The apparatus of claim 1, wherein the resistance assembly includes at least one interchangeable spring configured to generate mechanical resistance in a linear motion.
 14. The apparatus of claim 1, wherein the resistance assembly includes at least one interchangeable spring configured to generate mechanical resistance in a rotational motion.
 15. The apparatus of claim 1, wherein the resistance assembly includes at least one interchangeable spring and at least one position sensor configured to measure at least one of force, position, velocity and acceleration of a linear motion.
 16. The apparatus of claim 1, wherein the resistance assembly includes at least one interchangeable spring and at least one position sensor configured to measure at least one of torque, position, velocity and acceleration of a rotational motion.
 17. The apparatus of claim 1, wherein at least one of the plurality of rollers is embedded with a sensor configured to detect a motion of the at least one of the plurality of rollers.
 18. The apparatus of claim 1, wherein at least one of the plurality of rollers is embedded with a sensor configured to detect rotation of the at least one of the plurality of rollers.
 19. The apparatus of claim 1, wherein the resistance assembly is coupled to a haptic device that provides feedback according to the linear motion of the roller bar with respect to the outer handle.
 20. The apparatus of claim 1, wherein the resistance assembly is coupled to a haptic device configured to provide feedback according to a rotational motion of the outer frame.
 21. The apparatus of claim 1, wherein the resistance assembly is coupled to an actuator configured to provide a linear force to the roller bar.
 22. The apparatus of claim 1, wherein the resistance assembly is coupled to an actuated haptic device configured to provide force feedback according to a linear motion of the roller bar with respect to the outer handle.
 23. The apparatus of claim 1, wherein the resistance assembly is coupled to an actuated device configured to provide rotational torque to the outer frame.
 24. The apparatus of claim 1, wherein the resistance assembly is coupled to an actuated haptic feedback configured to provide feedback according to a rotational motion of the outer frame.
 25. The apparatus of claim 1, wherein: the roller bar has a groove; and at least one of the plurality of rollers has a protrusion on an inner surface of the at least one roller, where the protrusion is configured to engage the groove to stop the at least one roller from rolling.
 26. An apparatus for hand exercising, comprising: an outer frame having a first rail and a second rail spaced apart and an outer handle extending between the first and second rails, the outer handle configured to engage with a thenar of a hand; a first roller bar slideably coupled to the first rail and decoupled from the second rail, the first roller bar having a first plurality of rollers capable of rotating about an axis of the first roller bar, wherein the first plurality of rollers are configured to support a first plurality of fingers of the hand; and a first resistance assembly coupled to the first roller bar and the outer frame, the first resistance assembly resisting movement of the first roller bar towards the outer handle.
 27. The apparatus of claim 26, further comprising: a second roller bar slideably coupled to the second rail and decoupled from the first rail, the second roller bar having a second plurality of rollers, wherein the second plurality of rollers support the second plurality of fingers of the hand; and a second resistance assembly coupled to the second roller bar and the outer frame, the second resistance assembly resisting movement of the second roller bar towards the outer handle.
 28. The apparatus of claim 26, wherein the first plurality of rollers are partially recessed into the first roller bar.
 29. The apparatus of claim 26, wherein the first roller bar includes a pistol grip.
 30. The apparatus of claim 29, wherein the pistol grip includes an additional binary state input device.
 31. The apparatus of claim 26, wherein the outer handle includes a pistol grip.
 32. The apparatus of claim 31, wherein the pistol grip includes an additional binary state input device.
 33. The apparatus of claim 26, wherein at least one of the first plurality of rollers is embedded with a motion vibration element configured to generate a tactile sensation in the at least one of the first plurality of rollers.
 34. The apparatus of claim 26, wherein at least one of the first plurality of rollers is embedded with a sensor configured to detect at least one of force, position, and acceleration applied on the at least one of the first plurality of rollers.
 35. A method of exercising hands by a user, comprising: placing a thenar of a hand of the user against an outer handle of a hand exercise device; grabbing a plurality of rollers on a roller bar of the hand exercise device using a plurality of fingers; pulling each of the plurality of rollers towards the outer handle using each of the plurality of fingers; and curling the plurality of fingers while rotating each of the plurality of rollers and keeping a metacarpophylangeal (MCP) joint of the user stable. 